mix_msgs pubsub app added(support array)

.gitignore

@@ -0,0 +1,4 @@
+log/
+.vscode/
+build/
+install/

custom_msgs/float_location_msgs/CMakeLists.txt → custom_msgs/geometry_msgs/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(float_location_msgs)
+project(geometry_msgs)
 
 # Default to C99
 if(NOT CMAKE_C_STANDARD)
@@ -20,7 +20,7 @@ find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
-  "msg/FloatLocation.msg"
+  "msg/Vector3.msg"
 )
 
 if(BUILD_TESTING)

custom_msgs/geometry_msgs/msg/Vector3.msg

@@ -0,0 +1,3 @@
+float64 x
+float64 y
+float64 z

custom_msgs/float_location_msgs/package.xml → custom_msgs/geometry_msgs/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>float_location_msgs</name>
+  <name>geometry_msgs</name>
   <version>0.0.0</version>
   <description>TODO: Package description</description>
   <maintainer email="[email protected]">uden</maintainer>

custom_msgs/mix_msgs/CMakeLists.txt

@@ -0,0 +1,37 @@
+cmake_minimum_required(VERSION 3.5)
+project(mix_msgs)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/Mix.msg"
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

custom_msgs/mix_msgs/msg/Mix.msg

@@ -0,0 +1,4 @@
+string name
+uint16 height
+float32 weight
+uint16[] array

custom_msgs/mix_msgs/package.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>mix_msgs</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">uden</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

mros2_echoback_health/src/pub_node.cpp

@@ -25,7 +25,7 @@ class Publisher : public rclcpp::Node
   void timer_callback()
   {
     auto message = health_msgs::msg::Health();
-    message.name = "Hi";
+    message.name = std::to_string(count_++);
     message.height = 170;
     message.weight = 63.5;
     RCLCPP_INFO(this->get_logger(), "Publishing msg: { name: '%s', height: %u cm, weight: %f kg }", message.name.c_str(), message.height, message.weight);

mros2_echoback_float_location/CMakeLists.txt → mros2_echoback_mix/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(mros2_echoback_float_location)
+project(mros2_echoback_mix)
 
 
 # Default to C99
@@ -19,16 +19,16 @@ endif()
 # find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(float_location_msgs REQUIRED)
+find_package(mix_msgs REQUIRED)
 # uncomment the following section in order to fill in
 # further dependencies manually.
 # find_package(<dependency> REQUIRED)
 
 add_executable(pub_node src/pub_node.cpp)
-ament_target_dependencies(pub_node rclcpp float_location_msgs)
+ament_target_dependencies(pub_node rclcpp mix_msgs)
 
 add_executable(sub_node src/sub_node.cpp)
-ament_target_dependencies(sub_node rclcpp float_location_msgs)
+ament_target_dependencies(sub_node rclcpp mix_msgs)
 
 target_include_directories(pub_node PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
@@ -59,4 +59,4 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-ament_package()
+ament_package()

mros2_echoback_float_location/launch/launch_pubsub.py → mros2_echoback_mix/launch/launch_pubsub.py

@@ -5,17 +5,17 @@
 def generate_launch_description():
   return LaunchDescription([
     Node(
-      package='mros2_echoback_float_location',
+      package='mros2_echoback_mix',
       node_executable='pub_node',
       node_name='pub_mros2',
 			prefix=['stdbuf -o L'],
 			output="screen"
     ),
     Node(
-      package='mros2_echoback_float_location',
+      package='mros2_echoback_mix',
       node_executable='sub_node',
       node_name='mros2_sub',
 			prefix=['stdbuf -o L'],
 			output="screen"
     )
-  ])
+  ])

mros2_echoback_float_location/package.xml → mros2_echoback_mix/package.xml

@@ -1,21 +1,21 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>mros2_echoback_float_location</name>
+  <name>mros2_echoback_mix</name>
   <version>0.0.0</version>
   <description>TODO: Package description</description>
   <maintainer email="[email protected]">uden</maintainer>
   <license>TODO: License declaration</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 <build_depend>rclcpp</build_depend>
-<build_depend>float_location_msgs</build_depend>
+<build_depend>mix_msgs</build_depend>
 <exec_depend>rclcpp</exec_depend>
-<exec_depend>float_location_msgs</exec_depend>
+<exec_depend>mix_msgs</exec_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-</package>
+</package>

mros2_echoback_mix/src/pub_node.cpp

@@ -0,0 +1,48 @@
+#include <chrono>
+#include <functional>
+#include <memory>
+#include <string>
+
+#include "rclcpp/rclcpp.hpp"
+#include "mix_msgs/msg/mix.hpp"
+
+using namespace std::chrono_literals;
+
+/* This example creates a subclass of Node and uses std::bind() to register a
+* member function as a callback from the timer. */
+
+class Publisher : public rclcpp::Node
+{
+public:
+  Publisher()
+    : Node("pub_mros2"), count_(0)
+  {
+    publisher_ = this->create_publisher<mix_msgs::msg::Mix>("to_stm", 10);
+    timer_ = this->create_wall_timer(1000ms, std::bind(&Publisher::timer_callback, this));
+  }
+
+private:
+  void timer_callback()
+  {
+    auto message = mix_msgs::msg::Mix();
+    message.name = std::to_string(count_++);
+    message.height = 170;
+    message.weight = 63.5;
+    message.array.push_back(count_);
+    message.array.push_back(count_+1);
+    message.array.push_back(count_+2);
+    RCLCPP_INFO(this->get_logger(), "Publishing msg: { name: '%s', height: %u cm, weight: %f kg, array: {%u,%u,%u} }", message.name.c_str(), message.height, message.weight, message.array[0], message.array[1], message.array[2]);
+    publisher_->publish(message);
+  }
+  rclcpp::TimerBase::SharedPtr timer_;
+  rclcpp::Publisher<mix_msgs::msg::Mix>::SharedPtr publisher_;
+  size_t count_;
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<Publisher>());
+  rclcpp::shutdown();
+  return 0;
+}

mros2_echoback_mix/src/sub_node.cpp

@@ -0,0 +1,34 @@
+#include <chrono>
+#include <functional>
+#include <memory>
+#include <string>
+
+#include "rclcpp/rclcpp.hpp"
+#include "mix_msgs/msg/mix.hpp"
+
+using std::placeholders::_1;
+
+class Subscriber : public rclcpp::Node
+{
+public:
+  Subscriber() : Node("mros2_sub")
+  {
+    subscriber_ = this->create_subscription<mix_msgs::msg::Mix>("to_linux", rclcpp::QoS(10).best_effort(), std::bind(&Subscriber::topic_callback, this, _1));
+  }
+
+private:
+  void topic_callback(const mix_msgs::msg::Mix::SharedPtr message) const
+  {
+    RCLCPP_INFO(this->get_logger(), "Subscribed msg: { name: '%s', height: %d cm, weight: %f kg, array: {%u,%u,%u} }", message->name.c_str(), message->height, message->weight, message->array[0], message->array[1], message->array[2]);
+  }
+  rclcpp::Subscription<mix_msgs::msg::Mix>::SharedPtr subscriber_;
+};
+
+
+int main(int argc, char *argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<Subscriber>());
+  rclcpp::shutdown();
+  return 0;
+}

mros2_echoback_vector3/CMakeLists.txt

@@ -0,0 +1,62 @@
+cmake_minimum_required(VERSION 3.5)
+project(mros2_echoback_vector3)
+
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(geometry_msgs REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+add_executable(pub_node src/pub_node.cpp)
+ament_target_dependencies(pub_node rclcpp geometry_msgs)
+
+add_executable(sub_node src/sub_node.cpp)
+ament_target_dependencies(sub_node rclcpp geometry_msgs)
+
+target_include_directories(pub_node PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+
+target_include_directories(sub_node PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+
+install(TARGETS pub_node
+  DESTINATION lib/${PROJECT_NAME})
+install(TARGETS sub_node
+  DESTINATION lib/${PROJECT_NAME})
+
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

mros2_echoback_vector3/launch/launch_pubsub.py

@@ -0,0 +1,21 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+# Note: `node_`, `prefix` and `output` will be removed on Foxy
+def generate_launch_description():
+  return LaunchDescription([
+    Node(
+      package='mros2_echoback_vector3',
+      node_executable='pub_node',
+      node_name='pub_mros2',
+			prefix=['stdbuf -o L'],
+			output="screen"
+    ),
+    Node(
+      package='mros2_echoback_vector3',
+      node_executable='sub_node',
+      node_name='mros2_sub',
+			prefix=['stdbuf -o L'],
+			output="screen"
+    )
+  ])

mros2_echoback_vector3/package.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>mros2_echoback_vector3</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">uden</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+<build_depend>rclcpp</build_depend>
+<build_depend>geometry_msgs</build_depend>
+<exec_depend>rclcpp</exec_depend>
+<exec_depend>geometry_msgs</exec_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>